Operating method and control unit for a LIDAR system, LIDAR system, and working device

Abstract

An operating method for a LIDAR system that is operable by pulse sequence encoding and designed with a SPAD-based detector element, in which a down time of the SPAD-based detector element is detected, and in the transmission mode of the LiDAR system, a minimum time interval of transmission pulses of primary light to be transmitted in direct chronological succession is dimensioned in such a way that the minimum time interval at least approximately corresponds to the down time.

What is claimed is: 
     
       1. An operating method for a LIDAR system, the LIDAR system being operable by pulse sequence encoding and includes a SPAD-based detector element, the method comprising:
 repeatedly detecting, during normal operation of the LIDAR system, a down time of the SPAD-based detector element; and 
 in a transmission mode of the LIDAR system, transmitting transmission pulses of primary light in direct chronological succession with a minimum time interval between the transmission pulses of primary light transmitted in direct chronological succession; and 
 setting the minimum time interval, according to the detection of the down time, to approximately correspond to the detected down time. 
 
     
     
       2. The operating method as recited in  claim 1 , wherein the minimum time interval is dimensioned in such a way that it at least slightly exceeds the down time. 
     
     
       3. The operating method as recited in  claim 1 , wherein the minimum time interval of the transmission pulses transmitted in direct chronological succession has a constant value. 
     
     
       4. The operating method as recited in  claim 1 , wherein the minimum time interval of the transmission pulses of primary light transmitted in direct chronological succession, in relation to the down time of the SPAD-based detector element, satisfies the following relationship:
   ttot<tmin≤(1+x)·ttot,
 
 wherein ttot is the down time of the SPAD-based detector element, tmin is the minimum time interval of the transmission pulses of primary light in direct chronological succession, and x is an at least temporarily constant positive value that is different from zero. 
 
     
     
       5. The operating method as recited in  claim 4 , wherein the value x satisfies the relationship x≤0.3. 
     
     
       6. The operating method as recited in  claim 4 , wherein the value x satisfies the relationship x≤0.2. 
     
     
       7. The operating method as recited in  claim 4 , wherein the value x satisfies the relationship x≤0.1. 
     
     
       8. The operating method as recited in  claim 4 , wherein the value x satisfies the relationship x=0.1. 
     
     
       9. The operating method as recited in  claim 1 , wherein the down time of the SPAD-based detector element is detected by repeatedly and/or in conjunction with a machine learning method. 
     
     
       10. A control unit for a LIDAR system, the LIDAR system being operable by pulse sequence encoding and includes a SPAD-based detector element, the control unit configured to:
 repeatedly detect, during normal operation of the LIDAR system, a down time of the SPAD-based detector element; 
 in a transmission mode of the LIDAR system, control a transmission of transmission pulses of primary light in direct chronological succession with a minimum time interval between the transmission pulses of primary light transmitted in direct chronological succession; and 
 set the minimum time interval, according to the detection of the down time, to approximately correspond to the detected down time. 
 
     
     
       11. A LIDAR system for pulse sequence-encoded optical detection of a visual field for a working device or a vehicle, LIDAR system comprising:
 transmitter optics configured to provide and transmit primary light into the visual field; 
 receiver optics configured to receive secondary light from the visual field, and which include a detector assembly in which the secondary light is detectable via at least one SPAD-based detector element; and 
 a control unit configured to control operation of the transmitter optics and/or the receive optics, the control unit configured to:
 repeatedly detect, during normal operation of the LIDAR system, a down time of the SPAD-based detector element; 
 in a transmission mode of the LIDAR system, control a transmission of transmission pulses of primary light in direct chronological succession with a minimum time interval between the transmission pulses of primary light transmitted in direct chronological succession; and 
 set the minimum time interval, according to the detection of the down time, to approximately correspond to the detected down time. 
 
 
     
     
       12. The LIDAR system as recited in  claim 11 , wherein the LIDAR system is situated in a working device. 
     
     
       13. The LIDAR system as recited in  claim 11 , wherein the LIDAR system is situated in a vehicle. 
     
     
       14. A vehicle, comprising:
 a LIDAR system for pulse sequence-encoded optical detection of a visual field for a working device or a vehicle, LIDAR system including:
 transmitter optics configured to provide and transmit primary light into the visual field; 
 receiver optics configured to receive secondary light from the visual field, and which include a detector assembly in which the secondary light is detectable via at least one SPAD-based detector element; and 
 a control unit configured to control operation of the transmitter optics and/or the receive optics, the control unit configured to:
 detect a down time of the SPAD-based detector element; 
 in a transmission mode of the LIDAR system, control a transmission of transmission pulses of primary light in direct chronological succession with a minimum time interval between of the transmission pulses of primary light transmitted in direct chronological succession; and 
 set the minimum time interval, according to the detection of the down time, to approximately correspond to the detected down time.